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+EDGE3 1830 1879 -5.44327 -6.99225 -3.57168 0.00740068 -0.00230545 -0.128326
+EDGE3 1831 1881 -5.11302 -0.00354604 -3.64876 0.000544769 -0.00178334 -0.00879484
+EDGE3 1830 1881 -5.63538 6.98623 -3.72734 0.00257429 -0.00418372 0.123594
+EDGE3 1831 1880 -5.44074 -6.97584 -3.59001 0.00594625 0.00585397 -0.138544
+EDGE3 1832 1882 -5.12505 -0.0118521 -3.6498 -0.00705581 0.000998992 -0.00246359
+EDGE3 1831 1882 -5.64366 6.94987 -3.72683 -0.00197274 0.00102544 0.125517
+EDGE3 1832 1881 -5.45257 -6.96809 -3.58824 0.0030764 -1.95593e-05 -0.125861
+EDGE3 1833 1883 -5.10776 0.00187118 -3.64236 -0.00368273 0.00484534 -0.00368708
+EDGE3 1832 1883 -5.64553 6.94502 -3.71171 -0.00451129 -0.00357991 0.125969
+EDGE3 1833 1882 -5.44584 -6.9658 -3.55775 0.000593117 -0.00383649 -0.124425
+EDGE3 1834 1884 -5.13371 -0.00673398 -3.62898 -0.000392778 -0.0039544 0.00365269
+EDGE3 1833 1884 -5.64997 6.91941 -3.7193 -0.000514329 0.00292452 0.126277
+EDGE3 1834 1883 -5.45836 -6.93094 -3.5545 -0.000628971 0.0130496 -0.134989
+EDGE3 1835 1885 -5.12279 0.000452955 -3.63925 -0.00205259 0.00359525 0.00813425
+EDGE3 1834 1885 -5.6488 6.89551 -3.70261 0.00282603 -0.00322824 0.122874
+EDGE3 1835 1884 -5.46095 -6.92289 -3.56842 -0.00644427 -0.00466636 -0.127138
+EDGE3 1836 1886 -5.11736 0.00438354 -3.64504 -0.000908111 0.00300209 0.00391021
+EDGE3 1835 1886 -5.65238 6.8981 -3.69778 0.00270809 -0.000174884 0.126167
+EDGE3 1836 1885 -5.48396 -6.91899 -3.55135 -0.00322862 -0.00161251 -0.127153
+EDGE3 1837 1887 -5.13166 0.00167848 -3.61639 0.00234152 -0.00533239 0.00776714
+EDGE3 1836 1887 -5.67315 6.883 -3.67419 -0.00619349 0.00493397 0.127774
+EDGE3 1837 1886 -5.469 -6.90551 -3.56312 -0.0121594 -0.0025803 -0.124952
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+EDGE3 1837 1888 -5.66973 6.86408 -3.69924 0.00377233 0.00113323 0.123228
+EDGE3 1838 1887 -5.478 -6.88341 -3.53705 0.00121067 0.00338511 -0.131711
+EDGE3 1839 1889 -5.15816 0.012348 -3.59288 -0.00176348 0.00145552 -0.00142139
+EDGE3 1838 1889 -5.67174 6.84919 -3.68864 -0.00348412 0.0058242 0.129062
+EDGE3 1839 1888 -5.46317 -6.857 -3.53726 0.0094118 0.0028332 -0.123841
+EDGE3 1840 1890 -5.16255 -0.00360815 -3.59699 -0.00127088 0.00059433 -0.00135448
+EDGE3 1839 1890 -5.68185 6.83724 -3.66692 -0.00576477 -0.00066441 0.122029
+EDGE3 1840 1889 -5.46265 -6.86421 -3.52256 -0.000274476 -0.00102173 -0.128663
+EDGE3 1841 1891 -5.1708 -0.0120635 -3.58109 -0.00170977 -0.00939015 0.00776685
+EDGE3 1840 1891 -5.69528 6.83548 -3.67026 -0.000547713 0.0188776 0.127499
+EDGE3 1841 1890 -5.49495 -6.83944 -3.51688 0.00158725 0.00111175 -0.124543
+EDGE3 1842 1892 -5.15973 0.000744055 -3.58212 -0.00408669 -0.00243039 0.00247302
+EDGE3 1841 1892 -5.69756 6.82574 -3.64871 -0.00189009 -0.00380789 0.131453
+EDGE3 1842 1891 -5.49737 -6.85385 -3.52437 -0.0041385 0.00639935 -0.130551
+EDGE3 1843 1893 -5.15553 -0.000184333 -3.594 -0.00141491 -0.0113157 -0.00697898
+EDGE3 1842 1893 -5.6959 6.81562 -3.65725 0.00642619 0.00368315 0.129043
+EDGE3 1843 1892 -5.49346 -6.78955 -3.50982 0.00242095 0.00595954 -0.129134
+EDGE3 1844 1894 -5.19057 -0.00850402 -3.55761 0.0037234 0.000509833 -0.00447113
+EDGE3 1843 1894 -5.69247 6.77909 -3.64074 -0.00045393 0.00251018 0.114145
+EDGE3 1844 1893 -5.48665 -6.81181 -3.49552 -0.00466797 -0.000512546 -0.129289
+EDGE3 1845 1895 -5.19393 -0.0053208 -3.56502 0.00123233 -0.00653559 0.0109222
+EDGE3 1844 1895 -5.71488 6.78204 -3.63139 -0.00317601 -0.00313305 0.126885
+EDGE3 1845 1894 -5.50055 -6.78309 -3.49317 -0.00721908 -0.000518441 -0.114114
+EDGE3 1846 1896 -5.18598 0.00670256 -3.55278 0.00072354 0.00793236 -0.00241618
+EDGE3 1845 1896 -5.70185 6.77358 -3.63124 0.00626283 -0.00654293 0.134823
+EDGE3 1846 1895 -5.49589 -6.79489 -3.50549 0.000323905 -0.00142103 -0.124881
+EDGE3 1847 1897 -5.18581 -0.0212236 -3.54927 -0.00598339 0.00263016 0.000319618
+EDGE3 1846 1897 -5.71812 6.76556 -3.61555 0.00525337 -0.0119964 0.131982
+EDGE3 1847 1896 -5.50499 -6.76911 -3.47207 -0.000959178 0.00362545 -0.128037
+EDGE3 1848 1898 -5.19506 0.0152057 -3.53071 -0.014967 -0.0170116 -0.00631657
+EDGE3 1847 1898 -5.71701 6.73923 -3.59891 -0.000968431 0.00451709 0.127672
+EDGE3 1848 1897 -5.48812 -6.75158 -3.47401 0.0164432 0.00327616 -0.124409
+EDGE3 1849 1899 -5.18717 0.0029429 -3.55133 0.00719912 -0.000800041 -0.00267123
+EDGE3 1848 1899 -5.71834 6.73421 -3.60384 -0.00817363 0.00213857 0.1205
+EDGE3 1849 1898 -5.50698 -6.73763 -3.47791 -8.89939e-05 -0.00707023 -0.130531
+EDGE3 1850 1900 -5.19995 0.00219266 -3.53971 -0.006476 -0.00103317 0.00292286
+EDGE3 1849 1900 -5.71914 6.73051 -3.61343 -0.00169842 -0.000604634 0.127345
+EDGE3 1850 1899 -5.49664 -6.71823 -3.47202 0.00411462 0.00659787 -0.129788
+EDGE3 1851 1901 -5.21099 -0.00039306 -3.51251 0.00423305 -0.000650649 -0.0125266
+EDGE3 1850 1901 -5.71778 6.6809 -3.60384 -0.00638793 0.00241048 0.128158
+EDGE3 1851 1900 -5.51004 -6.72334 -3.45522 0.000411477 0.000994537 -0.12933
+EDGE3 1852 1902 -5.19587 0.0102717 -3.52158 -0.000126853 -0.000170372 -0.00827045
+EDGE3 1851 1902 -5.72771 6.66201 -3.59414 -0.0097872 -4.3307e-05 0.123124
+EDGE3 1852 1901 -5.52918 -6.69913 -3.43743 -0.00323176 -0.00217446 -0.125943
+EDGE3 1853 1903 -5.21226 0.0042453 -3.5288 0.00061414 -7.9598e-05 0.000548606
+EDGE3 1852 1903 -5.7323 6.67915 -3.57668 -0.00985475 0.00645645 0.123548
+EDGE3 1853 1902 -5.50293 -6.69196 -3.45305 -0.00542387 0.0123272 -0.120223
+EDGE3 1854 1904 -5.2032 -0.013113 -3.50715 -0.0125727 -0.000931647 0.00349719
+EDGE3 1853 1904 -5.72788 6.65255 -3.58224 0.0136325 0.00113703 0.129825
+EDGE3 1854 1903 -5.51908 -6.70721 -3.44234 0.00532937 0.00872313 -0.131277
+EDGE3 1855 1905 -5.20254 0.00050389 -3.47949 0.00392098 -0.00269351 -0.00563944
+EDGE3 1854 1905 -5.73292 6.65004 -3.57074 -0.00729607 0.00821942 0.12639
+EDGE3 1855 1904 -5.54267 -6.65048 -3.43759 0.00467327 -0.000531575 -0.124383
+EDGE3 1856 1906 -5.22828 0.0117716 -3.49639 0.00328251 0.00108014 0.00775688
+EDGE3 1855 1906 -5.73227 6.64264 -3.55968 -0.00499372 -0.0135159 0.131905
+EDGE3 1856 1905 -5.53262 -6.63145 -3.42776 0.000654223 0.000337119 -0.119101
+EDGE3 1857 1907 -5.23207 -0.00951556 -3.47987 0.00469953 -0.00238054 0.000414118
+EDGE3 1856 1907 -5.74549 6.61612 -3.56477 -0.00971957 0.00628617 0.123235
+EDGE3 1857 1906 -5.53195 -6.6512 -3.41654 0.000667421 -0.0026193 -0.124497
+EDGE3 1858 1908 -5.24507 0.00851595 -3.48632 -0.00516835 -0.00457761 0.00514431
+EDGE3 1857 1908 -5.74495 6.62652 -3.54158 -0.00278559 0.00405758 0.137789
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+EDGE3 1858 1909 -5.76631 6.59822 -3.53293 0.00305393 0.00719496 0.127431
+EDGE3 1859 1908 -5.55525 -6.61155 -3.40748 0.00116366 -0.00389885 -0.128165
+EDGE3 1860 1910 -5.23101 0.00499385 -3.48303 0.00187549 0.000302053 0.00418708
+EDGE3 1859 1910 -5.7616 6.57211 -3.55858 -0.00767666 -0.00408892 0.12042
+EDGE3 1860 1909 -5.55524 -6.60557 -3.39136 0.000274031 0.004333 -0.126034
+EDGE3 1861 1911 -5.26239 -0.0008173 -3.45123 0.0044654 0.000274662 0.00833256
+EDGE3 1860 1911 -5.76661 6.55365 -3.5219 -0.00353071 0.00219628 0.125549
+EDGE3 1861 1910 -5.54592 -6.56799 -3.38505 0.00590811 0.000164157 -0.130709
+EDGE3 1862 1912 -5.24175 -0.014365 -3.44558 0.000692072 -0.00263768 -0.00574217
+EDGE3 1861 1912 -5.77412 6.55102 -3.52617 0.0099999 -0.00317613 0.127624
+EDGE3 1862 1911 -5.56218 -6.57174 -3.38229 0.00523684 0.0133906 -0.12559
+EDGE3 1863 1913 -5.26658 0.00369651 -3.44044 0.00437295 -0.00271726 0.000465584
+EDGE3 1862 1913 -5.74915 6.54269 -3.51098 -0.00175548 -0.00677235 0.129113
+EDGE3 1863 1912 -5.56335 -6.54751 -3.40561 -0.00483739 0.00913401 -0.130001
+EDGE3 1864 1914 -5.26189 -0.00302098 -3.44183 -0.00987291 0.00836309 -0.000794343
+EDGE3 1863 1914 -5.76363 6.53738 -3.5149 -0.00215253 -0.00215478 0.126919
+EDGE3 1864 1913 -5.56994 -6.54897 -3.38404 0.000230485 -0.00687689 -0.116027
+EDGE3 1865 1915 -5.26253 -0.00364288 -3.4411 0.00348503 0.00159369 -0.0101161
+EDGE3 1864 1915 -5.77426 6.514 -3.50853 -0.00113978 0.00256539 0.129222
+EDGE3 1865 1914 -5.56667 -6.5213 -3.36661 0.00798109 0.0111652 -0.125763
+EDGE3 1866 1916 -5.27022 0.00511204 -3.42189 0.00470469 -0.00476784 0.00511343
+EDGE3 1865 1916 -5.75982 6.50099 -3.5042 -0.000352116 0.000689981 0.129946
+EDGE3 1866 1915 -5.56872 -6.51007 -3.35244 0.00191356 0.00793742 -0.132836
+EDGE3 1867 1917 -5.27055 0.0126347 -3.42565 0.00743785 0.00161532 -0.00466631
+EDGE3 1866 1917 -5.78311 6.47578 -3.45933 0.00320478 0.00423008 0.134552
+EDGE3 1867 1916 -5.56709 -6.4858 -3.34909 -0.00245744 -0.00333526 -0.123421
+EDGE3 1868 1918 -5.27602 -0.0188264 -3.41401 0.00550606 0.0087008 -0.00582172
+EDGE3 1867 1918 -5.7716 6.4749 -3.49017 -0.00930914 0.000555756 0.125922
+EDGE3 1868 1917 -5.57969 -6.48561 -3.34975 -0.00698191 -0.0044222 -0.132387
+EDGE3 1869 1919 -5.29277 -0.0136755 -3.41526 0.00207453 0.00400624 -0.00583018
+EDGE3 1868 1919 -5.79274 6.45672 -3.49303 -0.00540824 -0.0103684 0.129757
+EDGE3 1869 1918 -5.57228 -6.47328 -3.32796 -0.00881996 -0.00335636 -0.120297
+EDGE3 1870 1920 -5.28728 0.00328401 -3.38105 -0.00361681 0.00130894 -0.00400956
+EDGE3 1869 1920 -5.80512 6.43933 -3.46979 0.00870172 0.00683248 0.12871
+EDGE3 1870 1919 -5.5975 -6.47069 -3.34495 -0.00497276 -0.00156028 -0.121443
+EDGE3 1871 1921 -5.26175 0.00680745 -3.38121 -0.0064361 3.41879e-05 0.00694569
+EDGE3 1870 1921 -5.78615 6.44626 -3.47955 -0.00616073 0.00516728 0.129516
+EDGE3 1871 1920 -5.58841 -6.45249 -3.30494 -0.00261774 -0.00355625 -0.126504
+EDGE3 1872 1922 -5.3031 0.00467001 -3.37482 0.00446262 0.00672643 -0.00653805
+EDGE3 1871 1922 -5.78552 6.42387 -3.44719 0.00639153 -0.000512289 0.120192
+EDGE3 1872 1921 -5.58702 -6.44166 -3.32471 -0.00179406 -0.00194478 -0.123637
+EDGE3 1873 1923 -5.30883 0.0103124 -3.36053 0.00337579 -0.00301483 0.00144519
+EDGE3 1872 1923 -5.80598 6.40773 -3.45752 0.00263373 -0.00111141 0.128788
+EDGE3 1873 1922 -5.58176 -6.41815 -3.30883 0.00270731 -0.00569288 -0.124409
+EDGE3 1874 1924 -5.2837 -0.00793459 -3.35649 -0.00149375 -0.00818643 -6.70774e-05
+EDGE3 1873 1924 -5.79841 6.39653 -3.45627 -0.0036596 0.00269822 0.121319
+EDGE3 1874 1923 -5.58129 -6.40258 -3.31529 0.0039288 -0.00182464 -0.127105
+EDGE3 1875 1925 -5.31893 -0.00955089 -3.36933 0.000646228 -0.0049979 0.00289322
+EDGE3 1874 1925 -5.80502 6.40053 -3.42968 0.00225727 -0.00166103 0.136251
+EDGE3 1875 1924 -5.60889 -6.40082 -3.28398 0.0068033 -0.0114332 -0.117295
+EDGE3 1876 1926 -5.29092 0.00384964 -3.35334 0.00352746 -0.00260534 -0.00171604
+EDGE3 1875 1926 -5.81785 6.36343 -3.43491 0.0104818 0.00745003 0.127596
+EDGE3 1877 1927 -5.31817 -0.00701177 -3.34764 -0.00654147 0.00101238 -0.00180559
+EDGE3 1876 1925 -5.61908 -6.38953 -3.2925 0.0079494 -0.00333023 -0.134583
+EDGE3 1876 1927 -5.80711 6.35809 -3.41266 0.00314591 0.00213415 0.124744
+EDGE3 1877 1926 -5.60443 -6.36522 -3.28619 0.000509374 -0.0141503 -0.125705
+EDGE3 1878 1928 -5.32146 0.00114493 -3.36044 0.00471224 -0.000932439 -0.00253407
+EDGE3 1877 1928 -5.81012 6.34433 -3.41912 0.000429312 -0.00331361 0.131045
+EDGE3 1878 1927 -5.62879 -6.33611 -3.2787 0.00194759 -0.00608617 -0.124952
+EDGE3 1879 1929 -5.30061 0.00434193 -3.34086 -0.00311293 0.00926704 0.00398527
+EDGE3 1878 1929 -5.83173 6.31906 -3.38828 0.00133753 0.00265985 0.119534
+EDGE3 1879 1928 -5.6017 -6.34623 -3.26147 -0.00601599 -0.0056844 -0.122325
+EDGE3 1880 1930 -5.33595 0.00510348 -3.33204 -0.00615293 -0.00363009 -0.00124265
+EDGE3 1879 1930 -5.8464 6.3125 -3.39884 -0.00748567 -0.00479524 0.122864
+EDGE3 1880 1929 -5.6204 -6.322 -3.29004 -0.00737452 0.000543084 -0.127591
+EDGE3 1881 1931 -5.32376 0.0188107 -3.32871 0.00226888 0.00114298 -0.000860421
+EDGE3 1880 1931 -5.84215 6.28429 -3.38561 -0.00635031 0.000640743 0.123886
+EDGE3 1881 1930 -5.60928 -6.31502 -3.26762 0.00474297 0.00362334 -0.12711
+EDGE3 1882 1932 -5.34941 -0.0145751 -3.32067 -0.00551713 -0.00506063 -0.00713923
+EDGE3 1881 1932 -5.83336 6.28296 -3.40341 0.00217309 -0.0117383 0.118477
+EDGE3 1882 1931 -5.62262 -6.31396 -3.26203 0.000644942 -0.000389022 -0.116143
+EDGE3 1883 1933 -5.33678 -0.00176256 -3.30723 -0.008553 -0.000814676 -0.00253509
+EDGE3 1882 1933 -5.83333 6.27239 -3.37095 -0.00195533 0.0110726 0.121232
+EDGE3 1884 1934 -5.33191 -0.0135106 -3.29591 -0.000979606 -0.0083674 -0.000716074
+EDGE3 1883 1932 -5.62804 -6.27797 -3.25187 0.00240717 -0.00374037 -0.116508
+EDGE3 1883 1934 -5.85036 6.24668 -3.38002 0.00563628 0.00751899 0.124951
+EDGE3 1884 1933 -5.63223 -6.27262 -3.21787 -0.00632356 0.00639955 -0.121825
+EDGE3 1885 1935 -5.3417 0.000777446 -3.30502 -0.00283064 -0.00411176 0.00309049
+EDGE3 1884 1935 -5.83889 6.2415 -3.36858 0.00738546 0.00258514 0.121209
+EDGE3 1885 1934 -5.64838 -6.27245 -3.25528 0.000167137 0.00424364 -0.132344
+EDGE3 1886 1936 -5.34165 0.0129769 -3.28782 -0.00222081 -0.000199987 0.00869588
+EDGE3 1885 1936 -5.8471 6.24331 -3.35897 0.00645663 -0.000276771 0.126907
+EDGE3 1886 1935 -5.63422 -6.24597 -3.23288 -0.00164495 -0.000206825 -0.124356
+EDGE3 1887 1937 -5.3496 -0.00336737 -3.29753 0.00189651 -0.00379822 -0.00169804
+EDGE3 1886 1937 -5.84256 6.22436 -3.35095 0.00211102 -0.00436196 0.121722
+EDGE3 1888 1938 -5.35685 0.00872093 -3.28596 0.00318347 -0.0013277 0.00622994
+EDGE3 1887 1936 -5.6312 -6.23387 -3.21444 0.00798513 -0.000410798 -0.130586
+EDGE3 1887 1938 -5.85449 6.20253 -3.34263 -0.00654313 -0.00814656 0.128688
+EDGE3 1888 1937 -5.64048 -6.22007 -3.22368 0.00135903 -0.00901814 -0.118991
+EDGE3 1889 1939 -5.34808 0.01118 -3.28136 -0.00532863 0.00238961 -0.000422936
+EDGE3 1888 1939 -5.85263 6.19161 -3.33252 -0.0055176 0.00221429 0.12737
+EDGE3 1889 1938 -5.64984 -6.19307 -3.21376 0.00183303 -0.00254312 -0.126056
+EDGE3 1890 1940 -5.36943 -0.0179558 -3.2711 0.00212436 0.000554887 -0.00313354
+EDGE3 1889 1940 -5.86675 6.17547 -3.33117 0.00190882 -0.0012467 0.124803
+EDGE3 1890 1939 -5.65898 -6.1785 -3.18345 -0.000415469 0.00603812 -0.122632
+EDGE3 1891 1941 -5.36203 0.00421967 -3.26074 0.00305489 -0.00262201 -0.00121929
+EDGE3 1890 1941 -5.85405 6.15938 -3.31977 0.00346342 -0.00107154 0.125635
+EDGE3 1891 1940 -5.63669 -6.19038 -3.1908 0.00373237 0.0015159 -0.12711
+EDGE3 1892 1942 -5.36357 0.00160392 -3.27006 -0.00708724 0.00393476 -0.00414916
+EDGE3 1891 1942 -5.87015 6.16503 -3.30907 0.0018498 0.000423082 0.127875
+EDGE3 1892 1941 -5.6386 -6.1559 -3.18604 0.00219947 -0.00485354 -0.119984
+EDGE3 1893 1943 -5.35773 -0.0038269 -3.25575 -0.00235348 0.000834121 0.00152251
+EDGE3 1892 1943 -5.87439 6.13316 -3.30729 -0.000247705 -0.000988456 0.125336
+EDGE3 1893 1942 -5.64967 -6.16036 -3.19567 0.00188488 0.000852968 -0.125223
+EDGE3 1894 1944 -5.37145 -0.0092327 -3.24162 0.000189917 0.00433797 0.00365577
+EDGE3 1893 1944 -5.8763 6.11825 -3.30746 -0.000117102 0.00196663 0.130015
+EDGE3 1894 1943 -5.66446 -6.14086 -3.16173 -0.00212123 0.000973495 -0.129907
+EDGE3 1895 1945 -5.38967 0.0037349 -3.22818 0.0116071 0.000677882 -0.00259782
+EDGE3 1894 1945 -5.88192 6.11668 -3.28301 -0.00144359 0.00372206 0.121672
+EDGE3 1895 1944 -5.6635 -6.10784 -3.16296 0.00731365 0.0017216 -0.12533
+EDGE3 1896 1946 -5.39573 0.00657945 -3.22439 0.000317883 -0.00183642 0.000368526
+EDGE3 1895 1946 -5.86667 6.09899 -3.29684 -0.000263134 -0.0015017 0.12179
+EDGE3 1896 1945 -5.67412 -6.08366 -3.16545 0.0052457 0.00250773 -0.121947
+EDGE3 1897 1947 -5.39357 0.00283829 -3.24237 -0.00228744 0.000173388 -0.00512873
+EDGE3 1896 1947 -5.87511 6.08954 -3.29632 0.00478532 0.00304064 0.135981
+EDGE3 1897 1946 -5.65847 -6.08136 -3.16787 0.000409056 0.00413764 -0.125668
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+EDGE3 1899 1949 -5.41409 0.004899 -3.18113 -0.0128026 0.00242451 -0.00301246
+EDGE3 1900 1950 -5.40555 0.00449769 -3.19031 -0.000773293 0.0085803 -0.000855349
+EDGE3 1899 1948 -5.69256 -6.07514 -3.13826 -0.00385793 4.38254e-06 -0.126257
+EDGE3 1899 1950 -5.88508 6.03227 -3.26025 0.0021558 -0.000973312 0.122006
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+EDGE3 1901 1951 -5.41686 -0.00564788 -3.20732 -0.00363837 -0.00610922 -0.000700343
+EDGE3 1900 1951 -5.89034 6.02068 -3.25921 0.00998144 0.0066982 0.119863
+EDGE3 1901 1950 -5.68476 -6.04687 -3.11809 -0.00232885 -0.00152281 -0.118596
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+EDGE3 1901 1952 -5.88789 6.01479 -3.23085 -0.00535047 -0.0103298 0.121357
+EDGE3 1902 1951 -5.6708 -6.03229 -3.11827 -0.000596574 -0.00443279 -0.134258
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+EDGE3 1902 1953 -5.89223 5.98688 -3.25339 -0.00229023 0.00156955 0.128186
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+EDGE3 1903 1954 -5.90704 5.9817 -3.2394 -0.0106598 0.00431322 0.125747
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+EDGE3 1909 1960 -5.92128 5.90153 -3.21425 0.00767992 -0.00274562 0.128302
+EDGE3 1910 1959 -5.70742 -5.91613 -3.06455 0.00616479 -0.00631238 -0.12793
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+EDGE3 1911 1960 -5.72226 -5.90948 -3.06114 0.0110804 -0.000140461 -0.123374
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+EDGE3 1911 1962 -5.90333 5.87903 -3.17783 0.00807875 0.0014455 0.133496
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+EDGE3 1912 1963 -5.92005 5.85179 -3.18131 -0.000944133 -0.000473549 0.1245
+EDGE3 1913 1962 -5.71749 -5.87549 -3.04925 0.0152772 -0.00274506 -0.126617
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+EDGE3 1914 1963 -5.7099 -5.86629 -3.03149 -0.00664256 -0.00755185 -0.124237
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+EDGE3 1914 1965 -5.9486 5.81957 -3.16872 0.00816466 -0.000146956 0.12543
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+EDGE3 1915 1966 -5.93285 5.83272 -3.14942 0.0107932 0.00480811 0.121129
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+EDGE3 1917 1967 -5.47525 0.00102524 -3.08743 0.00147318 8.50273e-05 0.00990075
+EDGE3 1916 1967 -5.95191 5.80714 -3.15122 -0.00863514 0.00559517 0.138128
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+EDGE3 1917 1968 -5.93639 5.79409 -3.12968 0.000345783 0.0037258 0.12408
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+EDGE3 1919 1969 -5.47851 0.00531679 -3.08727 -0.00115575 0.00299742 -0.00741325
+EDGE3 1918 1969 -5.94807 5.79671 -3.12893 0.00132322 0.00553222 0.119934
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+EDGE3 1919 1970 -5.95473 5.75885 -3.10824 -0.00776289 0.00768938 0.130911
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+EDGE3 1920 1971 -5.96173 5.74132 -3.12812 0.00672913 0.00156664 0.126894
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+EDGE3 1925 1975 -5.49935 0.00976312 -3.04737 -3.64189e-05 0.00117017 -0.000540121
+EDGE3 1924 1975 -5.97896 5.67893 -3.09727 -0.0037038 0.00462302 0.124485
+EDGE3 1925 1974 -5.7542 -5.70214 -2.96842 0.0102969 0.00325885 -0.125939
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+EDGE3 1925 1976 -5.96709 5.67253 -3.08881 -0.00493901 -0.0139938 0.129311
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+EDGE3 1929 1978 -5.7643 -5.63266 -2.94203 0.00087833 0.00022573 -0.128858
+EDGE3 1930 1980 -5.52834 0.00646121 -2.99251 -0.00105196 -0.00491989 0.00375517
+EDGE3 1929 1980 -5.98436 5.61263 -3.06471 -0.00595355 -0.00497491 0.133621
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+EDGE3 1930 1981 -5.97143 5.61538 -3.05299 -0.00268779 0.00806028 0.12164
+EDGE3 1931 1980 -5.76763 -5.60878 -2.92867 -0.000692859 0.00759049 -0.130414
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+EDGE3 1931 1982 -5.98414 5.61229 -3.04283 -0.00778799 0.0019244 0.126726
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+EDGE3 1933 1982 -5.78678 -5.60859 -2.91803 -0.00619448 0.000866437 -0.118936
+EDGE3 1934 1984 -5.5434 0.0080529 -2.96469 -0.00153978 0.00478685 -0.00970984
+EDGE3 1933 1984 -6.0028 5.56902 -3.02333 -0.0102068 0.00696758 0.12744
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+EDGE3 1934 1985 -6.00934 5.53947 -3.01819 -0.00800605 0.00262047 0.128033
+EDGE3 1935 1984 -5.79441 -5.57675 -2.90252 -0.00133558 -0.000237224 -0.131593
+EDGE3 1936 1986 -5.54686 0.0023144 -2.94801 0.00597871 3.93326e-05 0.00112469
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+EDGE3 1939 1990 -6.00843 5.47458 -2.98888 -0.000492734 0.00235777 0.126978
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+EDGE3 1940 1991 -5.99684 5.45655 -2.98526 -0.00137462 -0.00527492 0.131652
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+EDGE3 1944 1994 -5.57365 0.000848455 -2.88549 -0.001073 0.00572914 -0.0008407
+EDGE3 1943 1994 -6.02653 5.41374 -2.9452 -0.000383602 -0.00795551 0.12434
+EDGE3 1944 1993 -5.80088 -5.41726 -2.85127 0.0114619 -0.00490873 -0.125047
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+EDGE3 1944 1995 -6.01961 5.40448 -2.95355 0.00527659 0.00264058 0.13221
+EDGE3 1945 1994 -5.7977 -5.4279 -2.85378 -0.0101286 0.00276164 -0.123742
+EDGE3 1946 1996 -5.57451 -0.00145722 -2.8682 0.00169367 -0.0146546 -0.00380074
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+EDGE3 1947 1996 -5.80672 -5.37803 -2.83131 -0.0062877 -0.0032303 -0.126607
+EDGE3 1948 1998 -5.58457 -0.00119354 -2.87158 -0.00559931 -0.00844645 -0.00423722
+EDGE3 1947 1998 -6.03402 5.37986 -2.93836 -0.00682208 -0.00144857 0.11827
+EDGE3 1948 1997 -5.82088 -5.38313 -2.80311 0.000691188 0.00215266 -0.122895
+EDGE3 1949 1999 -5.59071 0.00667578 -2.86478 8.55629e-05 0.00595285 -0.0049736
+EDGE3 1948 1999 -6.02021 5.33921 -2.92573 -0.00142202 -0.00573423 0.127055
+EDGE3 1949 1998 -5.81159 -5.35273 -2.80336 0.000684082 0.0035971 -0.121843
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+EDGE3 1949 2000 -6.0742 5.32421 -2.89755 0.0123511 0.00706643 0.125618
+EDGE3 1950 1999 -5.81671 -5.34966 -2.79616 0.00230823 -0.00228506 -0.126171
+EDGE3 1951 2001 -5.60296 -0.00817804 -2.8594 0.000276944 -0.000886763 0.0110153
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+EDGE3 1951 2000 -5.81911 -5.34241 -2.79742 -0.000302118 0.00617901 -0.122047
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+EDGE3 1959 2010 -6.07768 5.19253 -2.83891 -0.00825649 -0.00219315 0.130249
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+EDGE3 1960 2011 -6.07257 5.18361 -2.82335 0.00486628 0.0103289 0.123439
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+EDGE3 1961 2012 -6.0871 5.15877 -2.80454 -0.000799931 0.00151283 0.128089
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+EDGE3 1963 2013 -5.63908 0.00053293 -2.75841 0.000588165 0.00402461 0.00584897
+EDGE3 1962 2013 -6.0823 5.15393 -2.81107 -0.00543668 0.00423426 0.127617
+EDGE3 1963 2012 -5.85326 -5.15448 -2.6814 0.00442265 -0.00197515 -0.129062
+EDGE3 1964 2014 -5.65934 0.00807446 -2.75546 -0.00137949 0.00875705 0.00398367
+EDGE3 1963 2014 -6.08205 5.12148 -2.8239 -0.000365711 -0.000260473 0.136815
+EDGE3 1965 2015 -5.65678 -0.0146728 -2.73639 -0.00254799 -0.0048732 0.00479912
+EDGE3 1964 2013 -5.85473 -5.14415 -2.70807 0.00722985 0.00339841 -0.123566
+EDGE3 1964 2015 -6.07785 5.12658 -2.79758 -0.00139057 -0.0034229 0.12108
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diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp
index 265e323db..8118004af 100644
--- a/examples/Pose2SLAMExample.cpp
+++ b/examples/Pose2SLAMExample.cpp
@@ -26,7 +26,7 @@ using namespace gtsam;
 int main(int argc, char** argv) {
 
 	// 1. Create graph container and add factors to it
-	pose2SLAM::Graph graph ;
+	pose2SLAM::Graph graph;
 
 	// 2a. Add Gaussian prior
 	Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
@@ -35,25 +35,25 @@ int main(int argc, char** argv) {
 
 	// 2b. Add odometry factors
 	SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1));
-	graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0   ), odometryNoise);
+	graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise);
 	graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
 	graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
 	graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
 
 	// 2c. Add pose constraint
-	SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1));
-	graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty);
+	SharedDiagonal model(Vector_(3, 0.2, 0.2, 0.1));
+	graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), model);
 
 	// print
 	graph.print("\nFactor graph:\n");
 
-  // 3. Create the data structure to hold the initialEstimate estimate to the solution
+	// 3. Create the data structure to hold the initialEstimate estimate to the solution
 	pose2SLAM::Values initialEstimate;
-	Pose2 x1(0.5, 0.0, 0.2   ); initialEstimate.insertPose(1, x1);
-	Pose2 x2(2.3, 0.1,-0.2   ); initialEstimate.insertPose(2, x2);
-	Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3);
-	Pose2 x4(4.0, 2.0, M_PI  ); initialEstimate.insertPose(4, x4);
-	Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5);
+	initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2));
+	initialEstimate.insertPose(2, Pose2(2.3, 0.1, -0.2));
+	initialEstimate.insertPose(3, Pose2(4.1, 0.1, M_PI_2));
+	initialEstimate.insertPose(4, Pose2(4.0, 2.0, M_PI));
+	initialEstimate.insertPose(5, Pose2(2.1, 2.1, -M_PI_2));
 	initialEstimate.print("\nInitial estimate:\n");
 
 	// 4. Single Step Optimization using Levenberg-Marquardt
diff --git a/examples/matlab/Pose2SLAMExample.m b/examples/matlab/Pose2SLAMExample.m
index 41d4c0708..5641d2ac3 100644
--- a/examples/matlab/Pose2SLAMExample.m
+++ b/examples/matlab/Pose2SLAMExample.m
@@ -36,19 +36,19 @@ graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise);
 graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise);
 
 %% Add pose constraint
-constraintUncertainty = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]);
-graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), constraintUncertainty);
+model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]);
+graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model);
 
 % print
 graph.print(sprintf('\nFactor graph:\n'));
 
 %% Initialize to noisy points
 initialEstimate = pose2SLAMValues;
-x1 = gtsamPose2(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1);
-x2 = gtsamPose2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2);
-x3 = gtsamPose2(4.1, 0.1, pi/2); initialEstimate.insertPose(3, x3);
-x4 = gtsamPose2(4.0, 2.0, pi  ); initialEstimate.insertPose(4, x4);
-x5 = gtsamPose2(2.1, 2.1,-pi/2); initialEstimate.insertPose(5, x5);
+initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 ));
+initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 ));
+initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2));
+initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi  ));
+initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2));
 initialEstimate.print(sprintf('\nInitial estimate:\n'));
 
 %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
diff --git a/examples/matlab/Pose2SLAMExample_circle.m b/examples/matlab/Pose2SLAMExample_circle.m
new file mode 100644
index 000000000..7e7ab6694
--- /dev/null
+++ b/examples/matlab/Pose2SLAMExample_circle.m
@@ -0,0 +1,48 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% GTSAM Copyright 2010, Georgia Tech Research Corporation,
+% Atlanta, Georgia 30332-0415
+% All Rights Reserved
+% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+%
+% See LICENSE for the license information
+%
+% @brief Read graph from file and perform GraphSLAM
+% @author Frank Dellaert
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Create a hexagon of poses
+hexagon = pose2SLAMValues_Circle(6,1.0);
+p0 = hexagon.pose(0);
+p1 = hexagon.pose(1);
+
+%% create a Pose graph with one equality constraint and one measurement
+fg = pose2SLAMGraph;
+fg.addPoseConstraint(0, p0);
+delta = p0.between(p1);
+covariance = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]);
+fg.addOdometry(0,1, delta, covariance);
+fg.addOdometry(1,2, delta, covariance);
+fg.addOdometry(2,3, delta, covariance);
+fg.addOdometry(3,4, delta, covariance);
+fg.addOdometry(4,5, delta, covariance);
+fg.addOdometry(5,0, delta, covariance);
+
+%% Create initial config
+initial = pose2SLAMValues;
+initial.insertPose(0, p0);
+initial.insertPose(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]'));
+initial.insertPose(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]'));
+initial.insertPose(3, hexagon.pose(3).retract([-0.1, 0.1,-0.1]'));
+initial.insertPose(4, hexagon.pose(4).retract([ 0.1,-0.1, 0.1]'));
+initial.insertPose(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]'));
+
+%% Plot Initial Estimate
+figure(1);clf
+plot(initial.xs(),initial.ys(),'g-*'); axis equal
+
+%% optimize
+result = fg.optimize(initial);
+
+%% Show Result
+hold on; plot(result.xs(),result.ys(),'b-*')
+result.print(sprintf('\nFinal result:\n'));
diff --git a/examples/matlab/Pose3SLAMExample_circle.m b/examples/matlab/Pose3SLAMExample_circle.m
new file mode 100644
index 000000000..d1676626c
--- /dev/null
+++ b/examples/matlab/Pose3SLAMExample_circle.m
@@ -0,0 +1,49 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% GTSAM Copyright 2010, Georgia Tech Research Corporation,
+% Atlanta, Georgia 30332-0415
+% All Rights Reserved
+% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+%
+% See LICENSE for the license information
+%
+% @brief Read graph from file and perform GraphSLAM
+% @author Frank Dellaert
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Create a hexagon of poses
+hexagon = pose3SLAMValues_Circle(6,1.0);
+p0 = hexagon.pose(0);
+p1 = hexagon.pose(1);
+
+%% create a Pose graph with one equality constraint and one measurement
+fg = pose3SLAMGraph;
+fg.addHardConstraint(0, p0);
+delta = p0.between(p1);
+covariance = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]);
+fg.addConstraint(0,1, delta, covariance);
+fg.addConstraint(1,2, delta, covariance);
+fg.addConstraint(2,3, delta, covariance);
+fg.addConstraint(3,4, delta, covariance);
+fg.addConstraint(4,5, delta, covariance);
+fg.addConstraint(5,0, delta, covariance);
+
+%% Create initial config
+initial = pose3SLAMValues;
+s = 0.10;
+initial.insertPose(0, p0);
+initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1)));
+initial.insertPose(2, hexagon.pose(2).retract(s*randn(6,1)));
+initial.insertPose(3, hexagon.pose(3).retract(s*randn(6,1)));
+initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1)));
+initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1)));
+
+%% Plot Initial Estimate
+figure(1);clf
+plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); axis equal
+
+%% optimize
+result = fg.optimize(initial);
+
+%% Show Result
+hold on; plot3(result.xs(),result.ys(),result.zs(),'b-*')
+result.print(sprintf('\nFinal result:\n'));
diff --git a/examples/matlab/Pose3SLAMExample_graph.m b/examples/matlab/Pose3SLAMExample_graph.m
new file mode 100644
index 000000000..a42484484
--- /dev/null
+++ b/examples/matlab/Pose3SLAMExample_graph.m
@@ -0,0 +1,28 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% GTSAM Copyright 2010, Georgia Tech Research Corporation,
+% Atlanta, Georgia 30332-0415
+% All Rights Reserved
+% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+%
+% See LICENSE for the license information
+%
+% @brief Read graph from file and perform GraphSLAM
+% @author Frank Dellaert
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Initialize graph, initial estimate, and odometry noise
+model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]);
+[graph,initial]=load3D('../Data/sphere_smallnoise.graph',model,100);
+
+%% Fix first pose
+first = initial.pose(0);
+graph.addHardConstraint(0, first); % add directly to graph
+
+%% Plot Initial Estimate
+figure(1);clf
+plot3(initial.xs(),initial.ys(),initial.zs(),'g-'); hold on
+plot3(first.x(),first.y(),first.z(),'r*'); 
+
+%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
+result = graph.optimize(initial);
+hold on; plot3(result.xs(),result.ys(),result.zs(),'b-');axis equal; 
\ No newline at end of file
diff --git a/examples/matlab/load3D.m b/examples/matlab/load3D.m
new file mode 100644
index 000000000..0ed6ecd61
--- /dev/null
+++ b/examples/matlab/load3D.m
@@ -0,0 +1,38 @@
+function [graph,initial] = load3D(filename,model,N)
+% load3D: read TORO 3D pose graph
+% cannot read noise model from file yet, uses specified model
+fid = fopen(filename);
+if fid < 0
+    error(['load2D: Cannot open file ' filename]);
+end
+
+% scan all lines into a cell array
+columns=textscan(fid,'%s','delimiter','\n');
+fclose(fid);
+lines=columns{1};
+
+% loop over lines and add vertices
+graph = pose3SLAMGraph;
+initial = pose3SLAMValues;
+n=size(lines,1);
+if nargin<3, N=n;end
+
+for i=1:n
+    line_i=lines{i};
+    if strcmp('VERTEX3',line_i(1:7))
+        v = textscan(line_i,'%s %d %f %f %f %f %f %f',1);
+        if v{2}<N
+            t = gtsamPoint3(v{3}, v{4}, v{5});
+            R = gtsamRot3_ypr(v{6}, v{7}, v{8});
+            initial.insertPose(v{2}, gtsamPose3(R,t));
+        end
+    elseif strcmp('EDGE3',line_i(1:5))
+        e = textscan(line_i,'%s %d %d %f %f %f %f %f %f',1);
+        if e{2}<N & e{3}<N
+            t = gtsamPoint3(e{4}, e{5}, e{6});
+            R = gtsamRot3_ypr(e{7}, e{8}, e{9});
+            graph.addConstraint(e{2}, e{3}, gtsamPose3(R,t), model);
+        end
+    end
+end
+
diff --git a/gtsam.h b/gtsam.h
index 57f2a6e23..64dbf1cec 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -447,9 +447,10 @@ namespace pose2SLAM {
 
 class Values {
 	Values();
-	void insertPose(size_t key, const gtsam::Pose2& pose);
 	size_t size() const;
 	void print(string s) const;
+	static pose2SLAM::Values Circle(size_t n, double R);
+	void insertPose(size_t key, const gtsam::Pose2& pose);
 	gtsam::Pose2 pose(size_t i);
   Vector xs() const;
   Vector ys() const;
@@ -459,26 +460,79 @@ class Values {
 class Graph {
 	Graph();
 
+	// FactorGraph
 	void print(string s) const;
+	bool equals(const pose2SLAM::Graph& fg, double tol) const;
+	size_t size() const;
+	bool empty() const;
+	void remove(size_t i);
+	size_t nrFactors() const;
 
+	// NonlinearFactorGraph
 	double error(const pose2SLAM::Values& values) const;
+	double probPrime(const pose2SLAM::Values& values) const;
 	gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const;
 	gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values,
 			const gtsam::Ordering& ordering) const;
 
-	void addPrior(size_t key, const gtsam::Pose2& pose,
-			const gtsam::SharedNoiseModel& noiseModel);
+	// pose2SLAM-specific
+	void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel);
 	void addPoseConstraint(size_t key, const gtsam::Pose2& pose);
-	void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry,
-			const gtsam::SharedNoiseModel& noiseModel);
-	void addConstraint(size_t key1, size_t key2, const gtsam::Pose2& odometry,
-			const gtsam::SharedNoiseModel& noiseModel);
+	void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel);
+	void addConstraint(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel);
 	pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const;
 	gtsam::Marginals marginals(const pose2SLAM::Values& solution) const;
 };
 
 }///\namespace pose2SLAM
 
+//*************************************************************************
+// Pose3SLAM
+//*************************************************************************
+
+#include <gtsam/slam/pose3SLAM.h>
+namespace pose3SLAM {
+
+class Values {
+	Values();
+	size_t size() const;
+	void print(string s) const;
+	static pose3SLAM::Values Circle(size_t n, double R);
+	void insertPose(size_t key, const gtsam::Pose3& pose);
+	gtsam::Pose3 pose(size_t i);
+  Vector xs() const;
+  Vector ys() const;
+  Vector zs() const;
+};
+
+class Graph {
+	Graph();
+
+	// FactorGraph
+	void print(string s) const;
+	bool equals(const pose3SLAM::Graph& fg, double tol) const;
+	size_t size() const;
+	bool empty() const;
+	void remove(size_t i);
+	size_t nrFactors() const;
+
+	// NonlinearFactorGraph
+	double error(const pose3SLAM::Values& values) const;
+	double probPrime(const pose3SLAM::Values& values) const;
+	gtsam::Ordering* orderingCOLAMD(const pose3SLAM::Values& values) const;
+	gtsam::GaussianFactorGraph* linearize(const pose3SLAM::Values& values,
+			const gtsam::Ordering& ordering) const;
+
+	// pose3SLAM-specific
+	void addPrior(size_t key, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model);
+	void addConstraint(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::SharedNoiseModel& model);
+	void addHardConstraint(size_t i, const gtsam::Pose3& p);
+	pose3SLAM::Values optimize(const pose3SLAM::Values& initialEstimate) const;
+	gtsam::Marginals marginals(const pose3SLAM::Values& solution) const;
+};
+
+}///\namespace pose3SLAM
+
 //*************************************************************************
 // planarSLAM
 //*************************************************************************
@@ -488,9 +542,10 @@ namespace planarSLAM {
 
 class Values {
 	Values();
+	size_t size() const;
+	void print(string s) const;
 	void insertPose(size_t key, const gtsam::Pose2& pose);
 	void insertPoint(size_t key, const gtsam::Point2& point);
-	void print(string s) const;
 	gtsam::Pose2 pose(size_t key) const;
 	gtsam::Point2 point(size_t key) const;
 };
@@ -498,25 +553,30 @@ class Values {
 class Graph {
 	Graph();
 
+	// FactorGraph
 	void print(string s) const;
+	bool equals(const planarSLAM::Graph& fg, double tol) const;
+	size_t size() const;
+	bool empty() const;
+	void remove(size_t i);
+	size_t nrFactors() const;
 
+	// NonlinearFactorGraph
 	double error(const planarSLAM::Values& values) const;
+	double probPrime(const planarSLAM::Values& values) const;
 	gtsam::Ordering* orderingCOLAMD(const planarSLAM::Values& values) const;
 	gtsam::GaussianFactorGraph* linearize(const planarSLAM::Values& values,
 			const gtsam::Ordering& ordering) const;
 
-	void addPrior(size_t key, const gtsam::Pose2& pose,
-			const gtsam::SharedNoiseModel& noiseModel);
+	// planarSLAM-specific
+	void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel);
 	void addPoseConstraint(size_t key, const gtsam::Pose2& pose);
-	void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry,
-			const gtsam::SharedNoiseModel& noiseModel);
-	void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,
-			const gtsam::SharedNoiseModel& noiseModel);
-	void addRange(size_t poseKey, size_t pointKey, double range,
-			const gtsam::SharedNoiseModel& noiseModel);
-	void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,
-			double range, const gtsam::SharedNoiseModel& noiseModel);
+	void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel);
+	void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, const gtsam::SharedNoiseModel& noiseModel);
+	void addRange(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& noiseModel);
+	void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::SharedNoiseModel& noiseModel);
 	planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate);
+	gtsam::Marginals marginals(const planarSLAM::Values& solution) const;
 };
 
 class Odometry {
diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h
index f45c3bc86..5d03cd646 100644
--- a/gtsam/slam/planarSLAM.h
+++ b/gtsam/slam/planarSLAM.h
@@ -24,8 +24,13 @@
 #include <gtsam/slam/BearingRangeFactor.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/Marginals.h>
 #include <gtsam/geometry/Pose2.h>
 
+/**
+ * @defgroup SLAM
+ */
+
 // Use planarSLAM namespace for specific SLAM instance
 namespace planarSLAM {
 
@@ -48,9 +53,9 @@ namespace planarSLAM {
   /// A factor between a pose and a point to express difference in rotation and location
   typedef BearingRangeFactor<Pose2, Point2> BearingRange;
 
-  /**
-   * Values class, using specific poses and points
-   * Mainly as a convenience for MATLAB wrapper, which does not allow for identically named methods
+  /*
+   * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
+   * @ingroup SLAM
    */
   struct Values: public gtsam::Values {
 
@@ -75,7 +80,10 @@ namespace planarSLAM {
     void insertPoint(Key j, const Point2& point) { insert(j, point); }
   };
 
-  /// Creates a NonlinearFactorGraph with the Values type
+  /**
+   * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
+   * @ingroup SLAM
+   */
   struct Graph: public NonlinearFactorGraph {
 
     /// Default constructor for a NonlinearFactorGraph
@@ -104,6 +112,11 @@ namespace planarSLAM {
 
     /// Optimize
     Values optimize(const Values& initialEstimate) const;
+
+    /// Return a Marginals object
+    Marginals marginals(const Values& solution) const {
+    	return Marginals(*this,solution);
+    }
   };
 
 } // planarSLAM
diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp
index a1e5932d9..49ab37111 100644
--- a/gtsam/slam/pose2SLAM.cpp
+++ b/gtsam/slam/pose2SLAM.cpp
@@ -23,7 +23,7 @@
 namespace pose2SLAM {
 
   /* ************************************************************************* */
-  Values circle(size_t n, double R) {
+  Values Values::Circle(size_t n, double R) {
     Values x;
     double theta = 0, dtheta = 2 * M_PI / n;
     for (size_t i = 0; i < n; i++, theta += dtheta)
diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h
index 5668f8ad0..d7ebd3323 100644
--- a/gtsam/slam/pose2SLAM.h
+++ b/gtsam/slam/pose2SLAM.h
@@ -30,7 +30,10 @@ namespace pose2SLAM {
 
   using namespace gtsam;
 
-  /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
+  /*
+   * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
+   * @ingroup SLAM
+   */
   struct Values: public gtsam::Values {
 
 	  typedef boost::shared_ptr<Values> shared_ptr;
@@ -43,6 +46,15 @@ namespace pose2SLAM {
         gtsam::Values(values) {
     }
 
+    /**
+     * Create a circle of n 2D poses tangent to circle of radius R, first pose at (R,0)
+     * @param n number of poses
+     * @param R radius of circle
+     * @param c character to use for keys
+     * @return circle of n 2D poses
+     */
+    static Values Circle(size_t n, double R);
+
     /// insert a pose
     void insertPose(Key i, const Pose2& pose) { insert(i, pose); }
 
@@ -54,15 +66,6 @@ namespace pose2SLAM {
     Vector thetas() const; ///< get all orientations in a matrix
   };
 
-  /**
-   * Create a circle of n 2D poses tangent to circle of radius R, first pose at (R,0)
-   * @param n number of poses
-   * @param R radius of circle
-   * @param c character to use for keys
-   * @return circle of n 2D poses
-   */
-  Values circle(size_t n, double R);
-
   /**
    * List of typedefs for factors
    */
@@ -74,7 +77,10 @@ namespace pose2SLAM {
   /// A factor to add an odometry measurement between two poses.
   typedef BetweenFactor<Pose2> Odometry;
 
-  /// Graph
+  /**
+   * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
+   * @ingroup SLAM
+   */
   struct Graph: public NonlinearFactorGraph {
 
 	  typedef boost::shared_ptr<Graph> shared_ptr;
diff --git a/gtsam/slam/pose3SLAM.cpp b/gtsam/slam/pose3SLAM.cpp
index ffce28fe7..c7f8a29c5 100644
--- a/gtsam/slam/pose3SLAM.cpp
+++ b/gtsam/slam/pose3SLAM.cpp
@@ -22,7 +22,7 @@
 namespace pose3SLAM {
 
   /* ************************************************************************* */
-  Values circle(size_t n, double radius) {
+  Values Values::Circle(size_t n, double radius) {
     Values x;
     double theta = 0, dtheta = 2 * M_PI / n;
     // We use aerospace/navlab convention, X forward, Y right, Z down
@@ -41,6 +41,36 @@ namespace pose3SLAM {
     return x;
   }
 
+  /* ************************************************************************* */
+	Vector Values::xs() const {
+		size_t j=0;
+		Vector result(size());
+		ConstFiltered<Pose3> poses = filter<Pose3>();
+		BOOST_FOREACH(const ConstFiltered<Pose3>::KeyValuePair& keyValue, poses)
+			result(j++) = keyValue.value.x();
+		return result;
+	}
+
+  /* ************************************************************************* */
+	Vector Values::ys() const {
+		size_t j=0;
+		Vector result(size());
+		ConstFiltered<Pose3> poses = filter<Pose3>();
+		BOOST_FOREACH(const ConstFiltered<Pose3>::KeyValuePair& keyValue, poses)
+			result(j++) = keyValue.value.y();
+		return result;
+	}
+
+  /* ************************************************************************* */
+	Vector Values::zs() const {
+		size_t j=0;
+		Vector result(size());
+		ConstFiltered<Pose3> poses = filter<Pose3>();
+		BOOST_FOREACH(const ConstFiltered<Pose3>::KeyValuePair& keyValue, poses)
+			result(j++) = keyValue.value.z();
+		return result;
+	}
+
   /* ************************************************************************* */
   void Graph::addPrior(Key i, const Pose3& p, const SharedNoiseModel& model) {
     sharedFactor factor(new Prior(i, p, model));
diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h
index f81070818..448914f0d 100644
--- a/gtsam/slam/pose3SLAM.h
+++ b/gtsam/slam/pose3SLAM.h
@@ -17,25 +17,53 @@
 
 #pragma once
 
-#include <gtsam/geometry/Pose3.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/geometry/Pose3.h>
 
 /// Use pose3SLAM namespace for specific SLAM instance
 namespace pose3SLAM {
 
   using namespace gtsam;
 
-  /**
-   * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0)
-   * @param n number of poses
-   * @param R radius of circle
-   * @return circle of n 3D poses
+  /*
+   * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
+   * @ingroup SLAM
    */
-  Values circle(size_t n, double R);
+  struct Values: public gtsam::Values {
+
+	  typedef boost::shared_ptr<Values> shared_ptr;
+
+	  /// Default constructor
+    Values() {}
+
+    /// Copy constructor
+    Values(const gtsam::Values& values) :
+        gtsam::Values(values) {
+    }
+
+    /**
+     * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0)
+     * @param n number of poses
+     * @param R radius of circle
+     * @return circle of n 3D poses
+     */
+    static Values Circle(size_t n, double R);
+
+    /// insert a pose
+    void insertPose(Key i, const Pose3& pose) { insert(i, pose); }
+
+    /// get a pose
+    Pose3 pose(Key i) const { return at<Pose3>(i); }
+
+    Vector xs() const; ///< get all x coordinates in a matrix
+    Vector ys() const; ///< get all y coordinates in a matrix
+    Vector zs() const; ///< get all z coordinates in a matrix
+  };
 
   /// A prior factor on Key with Pose3 data type.
   typedef PriorFactor<Pose3> Prior;
@@ -44,7 +72,10 @@ namespace pose3SLAM {
   /// A hard constraint would enforce that the given key would have the input value in the results.
   typedef NonlinearEquality<Pose3> HardConstraint;
 
-  /// Graph
+  /**
+   * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
+   * @ingroup SLAM
+   */
   struct Graph: public NonlinearFactorGraph {
 
     /// Adds a factor between keys of the same type
@@ -61,6 +92,10 @@ namespace pose3SLAM {
       return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize();
     }
 
+    /// Return a Marginals object
+    Marginals marginals(const Values& solution) const {
+    	return Marginals(*this,solution);
+    }
   };
 
 } // pose3SLAM
diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp
index 7f329f1cb..55558b106 100644
--- a/gtsam/slam/tests/testPose2SLAM.cpp
+++ b/gtsam/slam/tests/testPose2SLAM.cpp
@@ -195,7 +195,7 @@ TEST_UNSAFE(Pose2SLAM, optimize) {
 TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) {
 
 	// Create a hexagon of poses
-	pose2SLAM::Values hexagon = pose2SLAM::circle(3,1.0);
+	pose2SLAM::Values hexagon = pose2SLAM::Values::Circle(3,1.0);
   Pose2 p0 = hexagon.pose(0), p1 = hexagon.pose(1);
 
 	// create a Pose graph with one equality constraint and one measurement
@@ -231,7 +231,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) {
 TEST_UNSAFE(Pose2SLAM, optimizeCircle) {
 
 	// Create a hexagon of poses
-	pose2SLAM::Values hexagon = pose2SLAM::circle(6,1.0);
+	pose2SLAM::Values hexagon = pose2SLAM::Values::Circle(6,1.0);
   Pose2 p0 = hexagon.pose(0), p1 = hexagon.pose(1);
 
 	// create a Pose graph with one equality constraint and one measurement
@@ -366,7 +366,7 @@ TEST_UNSAFE(Pose2Values, pose2Circle )
 	expected.insert(2, Pose2(-1,  0, - M_PI_2));
 	expected.insert(3, Pose2( 0, -1,   0     ));
 
-	pose2SLAM::Values actual = pose2SLAM::circle(4,1.0);
+	pose2SLAM::Values actual = pose2SLAM::Values::Circle(4,1.0);
 	CHECK(assert_equal(expected,actual));
 }
 
@@ -381,7 +381,7 @@ TEST_UNSAFE(Pose2SLAM, expmap )
 	expected.insert(3, Pose2( 0.1, -1,   0     ));
 
 	// Note expmap coordinates are in local coordinates, so shifting to right requires thought !!!
-	pose2SLAM::Values circle(pose2SLAM::circle(4,1.0));
+	pose2SLAM::Values circle = pose2SLAM::Values::Circle(4,1.0);
   Ordering ordering(*circle.orderingArbitrary());
 	VectorValues delta(circle.dims(ordering));
 	delta[ordering[0]] = Vector_(3, 0.0,-0.1,0.0);
diff --git a/gtsam/slam/tests/testPose3SLAM.cpp b/gtsam/slam/tests/testPose3SLAM.cpp
index 4ebe7d27f..46a1c35c5 100644
--- a/gtsam/slam/tests/testPose3SLAM.cpp
+++ b/gtsam/slam/tests/testPose3SLAM.cpp
@@ -43,7 +43,7 @@ TEST(Pose3Graph, optimizeCircle) {
 
 	// Create a hexagon of poses
 	double radius = 10;
-	Values hexagon = pose3SLAM::circle(6,radius);
+	Values hexagon = pose3SLAM::Values::Circle(6,radius);
   Pose3 gT0 = hexagon.at<Pose3>(0), gT1 = hexagon.at<Pose3>(1);
 
 	// create a Pose graph with one equality constraint and one measurement
@@ -179,7 +179,7 @@ TEST( Values, pose3Circle )
 	expected.insert(2, Pose3(R3, Point3(-1, 0, 0)));
 	expected.insert(3, Pose3(R4, Point3( 0,-1, 0)));
 
-	Values actual = pose3SLAM::circle(4,1.0);
+	Values actual = pose3SLAM::Values::Circle(4,1.0);
 	CHECK(assert_equal(expected,actual));
 }
 
@@ -199,7 +199,7 @@ TEST( Values, expmap )
 			0.0,0.0,0.0,  0.1, 0.0, 0.0,
 			0.0,0.0,0.0,  0.1, 0.0, 0.0,
 			0.0,0.0,0.0,  0.1, 0.0, 0.0);
-	Values actual = pose3SLAM::circle(4,1.0).retract(delta, ordering);
+	Values actual = pose3SLAM::Values::Circle(4,1.0).retract(delta, ordering);
 	CHECK(assert_equal(expected,actual));
 }